/* 
* @Author: obsidian
* @Date:   2015-12-16 09:42:51
* @Last Modified by:   obsidian
* @Last Modified time: 2016-01-30 15:48:22
*/
#ifndef GPSPATH_H
#include "module/def.h"
#ifndef ON
#define ON 1
#endif

#ifndef OFF
#define OFF 0
#endif


struct GPSpath
{
    unsigned short  status;
    unsigned int    current_index;
    unsigned char   direction;
    float           target_angle;
    struct Point    target_point;
    unsigned short  start_idx;
    float           distance_error;
    float           angle_error;
    float           mixed_error;
    float           angle_k;
    float           distance_k;
    float           camera_k;
    unsigned short  pre;
    unsigned short  base_pre;
    unsigned short  camera_center;
    float           camera_y;
    unsigned short  ctl_cnt;
    void            (*init)();
    void            (*read_from_sd)();
    void            (*gps_path_update)();
    void            (*timer_driver)();
    void            (*save)();
};



extern struct GPSpath gpspath;


#define GPSPATH_H
#endif
